Related papers: A Sensory Feedback Control Law for Octopus Arm Mov…
We introduce a dynamic model for complexity control (CC) between systems, represented by time series characterized by different temporal complexity measures, as indicated by their respective inverse power law (IPL) indices. Given the…
This work focuses on closed-loop control based on proprioceptive feedback for a pneumatically-actuated soft wearable device aimed at future support of infant reaching tasks. The device comprises two soft pneumatic actuators (one…
In this article, we present a stabilization feedback law with integral action for conservative abstract linear systems subjected to actuator nonlinearity. Based on the designed control law, we first prove the well-posedness and global…
The current work is a qualitative study that aims to explore the implementation of Twisted and Coiled Artificial Muscles (TCAMs) for actuating and replicating the bending motion of an octopus-like soft robot arm underwater. Additionally, it…
Feedback or closed-loop control allows dynamical systems to increase their performance up to a limit imposed by the second law of thermodynamics. It is expected that within this limit, the system performance increases as the controller uses…
A stochastic optimal control based model with velocity tracking and internal feedback for saccadic eye movements is presented in this paper. Recent evidence from neurophysiological studies of superior colliculus suggests the presence of a…
The control of individual quantum systems is now a reality in a variety of physical settings. Feedback control is an important class of control methods because of its ability to reduce the effects of noise. In this review we give an…
Strictly speaking, Newton's second law of motion is only an approximation of the so-called relativistic dynamics, i.e., Einstein's modification of the second law based on his theory of special relativity. Although the approximation is…
Humans can leverage physical interaction to teach robot arms. As the human kinesthetically guides the robot through demonstrations, the robot learns the desired task. While prior works focus on how the robot learns, it is equally important…
Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…
The fundamental lemma from behavioral systems theory yields a data-driven non-parametric system representation that has shown great potential for the data-efficient control of unknown linear and weakly nonlinear systems, even in the…
This work presents a methodology to design trajectory tracking feedback control laws, which embed non-parametric statistical models, such as Gaussian Processes (GPs). The aim is to minimize unmodeled dynamics such as undesired slippages.…
An adaptive observer is proposed to estimate the synaptic distribution between neurons asymptotically from the measurement of a part of the neuronal activity and a delayed neural field evolution model. The convergence of the observer is…
We review how sensorimotor control is dictated by interacting neural populations, optimal feedback mechanisms, and the biomechanics of bodies. First, we outline the distributed anatomical loops that shuttle sensorimotor signals between…
The logarithmic spiral is observed as a common pattern in several living beings across kingdoms and species. Some examples include fern shoots, prehensile tails, and soft limbs like octopus arms and elephant trunks. In the latter cases,…
Users of shared control systems change their behavior in the presence of assistance, which conflicts with assumpts about user behavior that some assistance methods make. In this paper, we propose an analysis technique to evaluate the user's…
Many-body unitary dynamics interspersed with repeated measurements display a rich phenomenology hallmarked by measurement-induced phase transitions. Employing feedback-control operations that steer the dynamics toward an absorbing state, we…
This paper presents a novel adaptive feedforward controller design for reset control systems. The combination of feedforward and reset feedback control promises high performance as the feedforward guarantees reference tracking, while the…
A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapunov stability. The present work improves the work of…
Feedback control mechanisms are ubiquitous in science and technology, and play an essential role in regulating physical, biological and engineering systems. The standard second law of thermodynamics does not hold in the presence of…